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www.elmomc.com

Table of Contents

Notice

This guide is delivered subject to the following conditions and restrictions:

•

This guide contains proprietary information belonging to Elmo Motion Control Ltd. Such

information is supplied solely for the purpose of assisting users of the Gold Lion 100 servo

drive in its installation.

•

The text and graphics included in this manual are for the purpose of illustration and

reference only. The specifications on which they are based are subject to change without

notice.

•

Information in this document is subject to change without notice.

Elmo Motion Control and the Elmo Motion Control logo are registered
trademarks of Elmo Motion Control Ltd.

EtherCAT

is a registered trademark and patented technology, licensed by

Beckhoff Automation GmbH, Germany.

CANopen compliant. CANopen

is a registered trademark and patented

technology, licensed by CAN in Automation (CiA) GmbH, Kontumazgarten
3, DE-90429 Nuremberg, Germany.

Document no. MAN-G-LION 100 PrelIG (Ver. 1.004)



2018

Elmo Motion Control Ltd.

Catalog Number

GOLD-LION100

Motion Controller for Harsh Environments
(-40°C to+70°C, Vibrations up to 14GRMS)
13VDC - 96VDC

Revision History

Version

Date

Details

Ver. 1.000

Oct 2015

Initial Release

Ver. 1.003

Aug. 2017

Update

Ver. 1.004

May. 2018

Update

Содержание Gold Lion 100

Страница 1: ...Gold Lion 100 Network Motion Controller Installation Guide For Harsh Environments 40 C to 70 C Vibrations up to 14GRMS May 2018 Ver 1 004 www elmomc com ...

Страница 2: ...subject to change without notice Elmo Motion Control and the Elmo Motion Control logo are registered trademarks of Elmo Motion Control Ltd EtherCAT is a registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany CANopen compliant CANopen is a registered trademark and patented technology licensed by CAN in Automation CiA GmbH Kontumazgarten 3 DE 90429 Nuremberg German...

Страница 3: ...cations 10 4 1 Operating System 10 4 2 Axes 10 4 3 Motion Modes and Interfaces 10 4 4 Drive Communication Bridge Support 11 4 5 Network Encoders 12 4 6 Position Error Mapping 12 Chapter 5 How to Use this Guide 12 Chapter 6 Installation 13 6 1 Environmental Conditions 13 6 2 Unpacking the Components 14 6 3 Connectors 15 6 3 1 Connector Types 15 6 4 Connector Pinouts 16 6 4 1 GPIO VL 16 6 4 2 EtherC...

Страница 4: ...f Contents 7 2 2 Connecting the DC Power Supply 21 7 2 3 Ethernet 22 7 2 4 USB 2 0 Communication 23 7 2 5 CAN Communication 24 7 2 6 EtherCAT Communication 25 7 3 Powering Up 27 7 4 Initializing the System 27 Chapter 8 Gold Lion 100 Dimensions 28 Chapter 9 Other Compliant Standards 29 ...

Страница 5: ...sure that all system components are connected to earth ground Electrical safety is provided through a low resistance earth connection The following safety symbols are used in this manual Warning This information is needed to avoid a safety hazard which might cause bodily injury Caution This information is necessary for preventing damage to the product or to other equipment 1 1 Cautions The Gold Li...

Страница 6: ... has been developed produced tested and documented in accordance with the relevant standards Elmo Motion Control is not responsible for any deviation from the configuration and installation described in this documentation Furthermore Elmo is not responsible for the performance of new measurements or ensuring that regulatory requirements are met 1 3 Warranty Information The products covered in this...

Страница 7: ...bilities of the Gold Lion 100 controller The Gold Lion 100 provides Full real time multi axis motion synchronization Advanced user programming capabilities based on the leading standards Time deterministic control over motion I Os and processes in the system The Gold Lion 100 offers real time motion control support for full multi axis system synchronization using the well known industry interface ...

Страница 8: ...h Flash 32 MB Memory 64 MB DDR2 333 MHz 3 2 Communications Specification Details Ethernet for Host 1 port Standard Ethernet 10 100 Mbps automatically detected USB One port USB 2 0 12 Mbps Used only for setup and determining IP address EtherCAT for device network 2 x EtherCAT master ports 100base T with redundancy support optional CAN for device network CANopen master port Maximum Baud Rate of 1 Mb...

Страница 9: ... 14 oz Dimensions 117 5 x 79 x 25 8 mm 4 63 x 3 11 x 1 02 Mounting Method with adapter Wall Mount Bookshelf 3 5 General Feature Details I O System All I O interfaces are handled via the device network Internal System BIT The Gold Lion 100 supports internal hardware BIT Built in tests procedures to check the system integrity level on each power up Diagnostic LEDs EtherCAT and Ethernet activity ...

Страница 10: ...s and coordinated axes motions Axis Types Intelligent Servo Drives Elmo supporting both the SimplIQ and Gold lines Operation in Numeric Control NC real time master synchronization as well as non NC modes DS 402 CoE for EtherCAT and standard DS 402 drives for CANopen Control System Update Rate EtherCAT Cycle Update Rate 500 µs up to 16 axes can be updated simultaneously at a rate of 500 µs Cycle Ji...

Страница 11: ...rovided to write user code running on the Gold Lion 100 target processor native mode Data Recording 4 MB data recording Up to 32 vectors can be recorded simultaneously Supports more than 10 advanced triggering options and real time scope capabilities Very fast data upload using Ethernet Upload Download Support Firmware update support Gold Lion 100 and drives System resource files Axis parameter fi...

Страница 12: ...e whose motors are controlled by Elmo s SimplIQ or Gold Line servo drives When used in conjunction with the Gold Maestro Software Manual it describes everything needed to get the Gold Lion 100 up and running Please read the safety instructions in the first chapter before starting After you have successfully mounted and installed the Gold Lion 100 we suggest that you read the Gold Maestro Software ...

Страница 13: ...C to 70 C 40 F to 160 F Temperature Shock Non operating conditions 40 C to 70 C 40 F to 160 F within 3 min Altitude Non operating conditions Unlimited Operating conditions 400 m to 12 000 m 1312 to 39370 feet Maximum Humidity Non operating conditions Up to 95 relative humidity non condensing at 35 C 95 F Operating conditions Up to 95 relative humidity non condensing at 25 C 77 F up to 90 relative ...

Страница 14: ...cardboard box with Styrofoam protection To unpack the Gold Lion 100 1 Carefully remove the Gold Lion 100 from the box 2 Check the Gold Lion 100 to ensure that there is no visible damage to the instrument If any damage has occurred report it immediately to the carrier that delivered your controller 3 To ensure that the Gold Lion 100 you have unpacked is the appropriate type for your requirements lo...

Страница 15: ...m 15 Table of Contents 6 3 Connectors 6 3 1 Connector Types The Gold Lion 100 has the following connectors Pins Type Function Front Connectors 9 D Type Male EtherCAT1 EtherCAT2 9 D Type Male Ethernet 9 D Type Female CAN Bottom Connectors 4 USB USB 15 D Type GPIO not in use VL VL Table 1 Connector Types ...

Страница 16: ... Connector Pinouts 6 4 1 GPIO VL Pin Signal Function 15 VL DC Power 24 V Supply Input Positive 14 VL DC Power 24 V Supply Input Return 8 VL Shield Drain wire cable 1 2 3 4 5 6 7 9 10 11 12 13 Reserved Pin Positions 15 Socket High Density D Type Connector 15 Pin High Density D Type Male Connector Table 2 Gold Lion 100 General Connector ...

Страница 17: ...1 Ethernet1_TX Ethernet1 transmit 2 Ethernet1_RX Ethernet1 receive 3 Ethernet2_TX Ethernet2 transmit 4 Ethernet2_RX Ethernet2 receive 5 Shield Drain wire cable 6 Ethernet1_TX Ethernet1 transmit 7 Ethernet1_RX Ethernet1 receive 8 Ethernet2_TX Ethernet2 transmit 9 Ethernet2_RX Ethernet2 receive Pin Positions 9 Pin male D Type 9 Pin Female D Type Table 3 EtherCAT Pin Assignments ...

Страница 18: ...ost Pin Signal Function 1 Ethernet_Host_TX Ethernet Host transmit 2 Ethernet_Host_RX Ethernet Host receive 3 Not used 4 Not used 5 Shield Drain wire cable 6 Ethernet_Host_TX Ethernet Host transmit 7 Ethernet_Host_RX Ethernet Host receive 8 Not used 9 Not used Pin Positions 9 Pin male D Type 9 Pin Female D Type Table 4 Ethernet Host Pin Assignments ...

Страница 19: ...L CAN_L bus line dominant low 7 9 CAN_RET CAN Return 5 CAN_Shield Drain wire cable Pin Positions 9 Pin D Type Female Connector 9 Pin D Type Male Connector Table 5 CAN Pin Assignments 6 4 5 USB 2 0 Standard USB Pin Signal Function 1 USB VBUS USB VBUS From Host 2 USBD USB _N line 3 USBD USB _P line 4 USB COMRET USB communication return Pin Postions Cable Connector USB Device Type B Plug Table 6 USB ...

Страница 20: ...ing options Wall mount Surface mount 7 1 1 Wall Mount Two M4 round head screws one through each opening in the heat sink are used to mount the Gold Maestro see the diagram below on a wall Figure 1 Wall Mounting the Gold Lion 100 7 1 2 Surface Mount Use four M4 round head screws one through each opening in the heat sink to connect the Gold Maestro to a surface Figure 2 Surface Mounting the Gold Lio...

Страница 21: ... 100 7 2 2 Connecting the DC Power Supply Connect the DC output from the power supply to the GPIO VL Connector on the Gold Lion 100 according to Table 7 To connect the power supply Use 28 AWG twisted pair shielded cable The shield should have copper braid Before applying power first verify the polarity of the connection protected Pin Signal Function Pin Position 15 VL DC Power 24 V Supply Input Po...

Страница 22: ...cting the Cables www elmomc com 22 Table of Contents 7 2 3 Ethernet Note When connecting the Ethernet communication cable use a shielded CAT5e Ethernet cable The Gold Lion 100 connects to a PC either directly or through a hub switch or router Figure 4 Gold Lion 100 Connected to a PC ...

Страница 23: ...USB Communication Return Table 8 USB 2 0 Pin Assignments Figure 5 USB Network Diagram To connect the USB communication cable Connect the shield to the ground of the host PC Usually this connection is soldered internally inside the connector at the PC end You can use the drain wire to facilitate connection Ensure that the shield of the cable is connected to the shield of the connector used for comm...

Страница 24: ...nally inside the connector at the PC end You can use the drain wire to facilitate connection Ensure that the shield of the cable is connected to the shield of the D Type and RJ plugs The drain wire can be used to facilitate the connection Connect a 120 Ω termination resistor to each end of the network cable The Gold Lion 100 does not have an internal terminal Use the CAN termination dongle supplie...

Страница 25: ...must always be the first device in the line The Ethernet1 port of the Gold Lion 100 should be connected to the EtherCAT In port of the next device down the line If redundancy is required the EtherCAT Out port of the last device should be connected to the Ethernet2 port of the Gold Lion 100 Note When connecting the EtherCAT communication cable it is recommended to use CAT5e cable Figure 7 EtherCAT ...

Страница 26: ...Network Motion Controller Installation Guide MAN G LION 100 PrelIG Ver 1 004 Connecting the Cables www elmomc com 26 Table of Contents Figure 8 EtherCAT Network with Redundancy For Future use ...

Страница 27: ...r EtherCAT cables or a terminated CAN network A servo drive connected through an EtherCAT cable or a CAN cable the terminated CAN network Users of SimplIQ servo drives Setting up the drives and motors is described in the Installation Guide for each servo drive and in the Elmo Application Studio User Guide Advanced features are described in the SimplIQ Software Manual Interlude API User Guide Simpl...

Страница 28: ...twork Motion Controller Installation Guide MAN G LION 100 PrelIG Ver 1 004 Initializing the System www elmomc com 28 Table of Contents Chapter 8 Gold Lion 100 Dimensions Figure 9 Gold Lion 100 Dimensions ...

Страница 29: ...equipment rating de rating stress etc Workmanship In compliance with IPC A 610 level 3 Acceptability of electronic assemblies PCB In compliance with IPC A 600 level 3 Acceptability of printed circuit boards Packing In compliance with EN 100015 Protection of electrostatic sensitive devices Environmental In compliance with 2002 96 EC Waste Electrical and Electronic Equipment regulations WEEE Note Ou...

Страница 30: ... Initializing the System www elmomc com Table of Contents ...

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